20 #ifndef HPP_PINOCCHIO_JOINT_HH 21 # define HPP_PINOCCHIO_JOINT_HH 27 # include <hpp/util/serialization-fwd.hh> 73 const std::string& name()
const;
112 std::size_t numberChildJoints ()
const;
115 JointPtr_t childJoint (std::size_t rank)
const;
128 void isBounded (
size_type rank,
bool bounded);
164 value_type upperBoundAngularVelocity ()
const;
168 if (maximalDistanceToParent_ < 0)
169 computeMaximalDistanceToParent();
170 return maximalDistanceToParent_;
176 void computeMaximalDistanceToParent ();
214 std::ostream&
display (std::ostream& os)
const;
235 bool operator== (
const Joint& other)
const 237 return index() == other.
index() && robot() == other.
robot();
240 bool operator!= (
const Joint& other)
const 242 return !operator==(other);
254 const Model& model()
const ;
258 void selfAssert()
const;
271 #endif // HPP_PINOCCHIO_JOINT_HH shared_ptr< Body > BodyPtr_t
Definition: fwd.hh:96
Utility functions.
Definition: body.hh:30
Eigen::Matrix< value_type, 6, Eigen::Dynamic > JointJacobian_t
Definition: fwd.hh:88
Definition: device-data.hh:41
const Transform3f & currentTransformation() const
Joint transformation.
Definition: joint.hh:81
::pinocchio::ModelTpl< value_type, 0, JointCollectionTpl > Model
Definition: fwd.hh:65
matrix_t::Index size_type
Definition: fwd.hh:84
JointIndex jointIndex
Definition: joint.hh:248
shared_ptr< Device > DevicePtr_t
Definition: fwd.hh:106
std::vector< JointIndex > children
Definition: joint.hh:249
std::ostream & operator<<(std::ostream &os, const hpp::pinocchio::Device &device)
Definition: device.hh:359
#define HPP_PINOCCHIO_DLLAPI
Definition: config.hh:64
const JointIndex & index() const
Definition: joint.hh:226
JointJacobian_t & jacobian(const bool localFrame=true) const
Definition: joint.hh:187
::pinocchio::JointModelTpl< value_type, 0, JointCollectionTpl > JointModel
Definition: fwd.hh:71
std::ostream & display(std::ostream &os) const
Display joint.
const value_type & maximalDistanceToParent()
Maximal distance of joint origin to parent origin.
Definition: joint.hh:167
Robot with geometric and dynamic pinocchio.
Definition: device.hh:52
shared_ptr< Joint > JointPtr_t
Definition: fwd.hh:111
shared_ptr< const Device > DeviceConstPtr_t
Definition: fwd.hh:107
double value_type
Definition: fwd.hh:40
Definition: collision-object.hh:31
DeviceWkPtr_t devicePtr
Definition: joint.hh:247
::pinocchio::SE3 Transform3f
Definition: fwd.hh:69
Eigen::Ref< const vector_t > vectorIn_t
Definition: fwd.hh:80
DevicePtr_t robot()
Access robot owning the object.
Definition: joint.hh:203
Joint()
Definition: joint.hh:262
~Joint()
Definition: joint.hh:66
::pinocchio::JointIndex JointIndex
Definition: fwd.hh:62
DeviceConstPtr_t robot() const
Access robot owning the object.
Definition: joint.hh:201
std::ostream & display(std::ostream &os, const SE3 &m)
Write a SE3 taking into account the indentation.
value_type maximalDistanceToParent_
Definition: joint.hh:246
shared_ptr< LiegroupSpace > LiegroupSpacePtr_t
Definition: fwd.hh:136